WO2023171371A1 - 通信装置および通信方法 - Google Patents

通信装置および通信方法 Download PDF

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Publication number
WO2023171371A1
WO2023171371A1 PCT/JP2023/006332 JP2023006332W WO2023171371A1 WO 2023171371 A1 WO2023171371 A1 WO 2023171371A1 JP 2023006332 W JP2023006332 W JP 2023006332W WO 2023171371 A1 WO2023171371 A1 WO 2023171371A1
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WIPO (PCT)
Prior art keywords
information
target
target object
communication device
move
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English (en)
French (fr)
Japanese (ja)
Inventor
周▲イク▼ 金
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Denso Corp
J Quad Dynamics Inc
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Denso Corp
J Quad Dynamics Inc
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Priority to JP2024506040A priority Critical patent/JP7722553B2/ja
Publication of WO2023171371A1 publication Critical patent/WO2023171371A1/ja
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a communication device and a communication method, and particularly relates to a communication device and a communication method that notify the surroundings of the existence of a recognized target.
  • Patent Document 1 a communication device that transmits target object information to the surrounding area is known.
  • the other communication device can recognize that a target exists outside the line of sight.
  • the amount of information that a communication device that transmits target information can transmit at one time is limited. If there are many targets around a communication device that transmits target information, there is a possibility that target information about all targets cannot be transmitted at once.
  • the present disclosure has been made based on this situation, and its purpose is to provide a communication device and a communication method that can transmit target information that is likely to be useful to the receiving device. It is in.
  • a communication device comprising a target information transmitting unit that wirelessly transmits target information that is information about a target whose existence has been recognized, a free space information acquisition unit that acquires free space information from another communication device installed in the mobile object; a target characteristic estimating unit that estimates target characteristics including relative distance and movement direction for the target; A prediction unit that predicts whether or not the target will move into a space in which the moving object can move, based on the target characteristic and the free space information, When the prediction unit predicts that the target will move into a space in which the moving body can move, the target information transmitting unit transmits a message that , is a communication device that increases the priority of transmitting target object information regarding a target object.
  • This communication device includes a prediction unit that predicts whether or not the target object will move into a space in which the mobile object can move, based on the target object characteristics and free space information. Then, the target object information transmitting unit transmits the information when the prediction unit predicts that the target will move to a space where the moving body can move, and when the prediction unit does not predict that the target will move to a space where the moving body can move.
  • the priority of transmitting target object information about the target object is set higher than that of the target object. Therefore, if the target information communication device that transmitted the free space information is the receiving device, target information that is likely to be useful to the receiving device can be transmitted.
  • a communication method for wirelessly transmitting target information which is information about a target whose existence has been recognized, Obtaining free space information from a target information communication device mounted on a mobile object; Estimating target characteristics including relative distance and movement direction for the target; Predicting whether the target will move into a space in which the moving body can move, based on the target characteristic and the free space information, The priority for transmitting target information about a target if the target predicts that the moving object will move into a space in which the moving object can move than if the target does not predict that the moving object will move into a space in which the moving object can move. It is a communication method that increases the
  • FIG. 2 is a diagram illustrating an example architecture of a V2X communication device.
  • FIG. 3 illustrates logical interfaces for CP services and other layers. Functional block diagram of CP service.
  • the figure explaining the sensor data extraction method A diagram explaining a CP service.
  • FIG. 1 is a configuration diagram of an in-vehicle system including a V2X communication device.
  • FIG. 3 is a diagram illustrating the positional relationship among the own vehicle, other vehicles, and targets.
  • FIG. 3 is a diagram illustrating the positional relationship among the own vehicle, other vehicles, and targets.
  • FIG. 3 is a diagram illustrating the positional relationship among the own vehicle, other vehicles, and targets.
  • An example of a flowchart showing processing for transmitting CPM An example of a flowchart showing detailed processing of S3 in FIG. 7.
  • a communication device that transmits target information according to the present disclosure is mounted on a vehicle as one aspect.
  • the communication device can also be referred to as a V2X communication device.
  • the V2X communication device may perform communication between vehicles, vehicles and infrastructure, vehicles and bicycles, vehicles and mobile terminals, and the like.
  • the V2X communication device may correspond to an on-vehicle device of a vehicle, or may be included in an on-vehicle device.
  • the on-board device is sometimes called an OBU (On-Board Unit).
  • the communication device may correspond to a roadside machine of the infrastructure or may be included in the roadside machine.
  • the roadside unit is also called an RSU (Road Side Unit).
  • the communication device can also be an element constituting an ITS (Intelligent Transport System).
  • ITS-S Intelligent Transport System
  • the communication device may correspond to or be included in an ITS station (ITS-S).
  • the ITS-S is a device that exchanges information, and may be an OBU, an RSU, or a mobile terminal, or may be included therein.
  • the mobile terminal is, for example, a PDA (Personal Digital Assistant) or a smartphone.
  • the communication device may correspond to the WAVE (Wireless Access in Vehicular) device disclosed in IEEE1609, or may be included in the WAVE device.
  • WAVE Wireless Access in Vehicular
  • the communication device is a V2X communication device mounted on a vehicle.
  • This V2X communication device has a function of providing a CP (Collective Perception) service.
  • the V2X communication device transmits a CPM (Collective Perception Message). Note that even if the communication device is an RSU or a mobile terminal, the same or similar methods as those disclosed below can be applied.
  • FIG. 1 is a diagram illustrating an example architecture of a V2X communication device according to an embodiment of the present disclosure.
  • the architecture shown in FIG. 1 is based on the ITS-S reference architecture according to EU standards.
  • the architecture shown in FIG. 1 includes an application layer 110, a facility layer 120, a network and transport layer 140, an access layer 130, a management layer 150, and a security layer 160.
  • the application layer 110 implements or supports various applications 111.
  • FIG. 1 shows, as examples of applications 111, a traffic safety application 111a, an efficient traffic information application 111b, and other applications 111c.
  • the facility layer 120 supports the execution of various use cases defined in the application layer 110.
  • Facility layer 120 may support the same or similar functionality as the upper three layers (application layer, presentation layer, and session layer) in the OSI reference model.
  • facility means providing functions, information, and data.
  • Facility layer 120 may provide functionality of a V2X communication device.
  • facility layer 120 may provide the functionality of application support 121, information support 122, and communication support 123 shown in FIG.
  • the application support 121 includes functionality to support basic application sets or message sets.
  • An example of a message is a V2X message.
  • V2X messages can include periodic messages such as CAM (Cooperative Awareness Message) and event messages such as DENM (Decentralized Environmental Notification Message).
  • Facility layer 120 may also support CPM.
  • Information support 122 has the function of providing common data or databases used for basic application sets or message sets.
  • An example of a database is a local dynamic map (LDM).
  • LDM local dynamic map
  • the communication support 123 has a function of providing services for communication and session management.
  • Communication support 123 provides, for example, address mode and session support.
  • the facility layer 120 supports application sets or message sets. That is, the facility layer 120 generates a message set or message based on the information that the application layer 110 should send or the service that it should provide. Messages generated in this way are sometimes referred to as V2X messages.
  • the access layer 130 includes an external IF (InterFace) 131 and an internal IF 132, and can transmit messages/data received in the upper layer via a physical channel.
  • access layer 130 can perform or support data communications using the following communication technologies:
  • the communication technology may be, for example, a communication technology based on the IEEE802.11 and/or 802.11p standard, an ITS-G5 wireless communication technology based on the physical transmission technology of the IEEE802.11 and/or 802.11p standard, or a satellite/broadband wireless mobile communication.
  • 2G/3G/4G (LTE)/5G wireless mobile communication technology including DVB-T/T2/ATC, broadband terrestrial digital broadcasting technology, GNSS communication technology, and WAVE communication technology.
  • the network and transport layer 140 can configure a network for vehicle communication between homogeneous/different types of networks using various transport protocols and network protocols.
  • the transport layer is a connection layer between upper and lower layers.
  • the upper layers include a session layer, a presentation layer, and an application layer 110.
  • Lower layers include a network layer, a data link layer, and a physical layer.
  • the transport layer can manage the transmitted data to arrive at its destination correctly.
  • the transport layer processes data into appropriately sized packets for efficient data transmission.
  • the transport layer performs a process of restoring the received packet to the original file.
  • the transport protocols are, for example, TCP (Transmission Control Protocol), UDP (User Datagram Protocol), and BTP (Basic Transport Protocol).
  • the network layer can manage logical addresses.
  • the network layer may also determine the delivery route of the packet.
  • the network layer may receive the packet generated in the transport layer and add the logical address of the destination to the network layer header.
  • unicast/multicast/broadcast between vehicles, between vehicles and fixed stations, and between fixed stations may be considered.
  • IPv6 networking for geonetworking, mobility support or geonetworking may be considered.
  • the architecture of the V2X communication device may further include a management layer 150 and a security layer 160.
  • the management layer 150 manages data transmission and interaction between layers.
  • the management layer 150 includes a management information base 151, regulation management 152, interlayer management 153, station management 154, and application management 155.
  • Security layer 160 manages security for all layers.
  • the security layer 160 includes firewall and intrusion detection management 161, authentication, authorization, and profile management 162, and security management information base 163.
  • FIG. 2 illustrates an example of a V2X message.
  • V2X messages can also be called ITS messages.
  • V2X messages can be generated at application layer 110 or facility layer 120. Specific examples of V2X messages are CAM, DENM, and CPM.
  • the transport layer in the network & transport layer 140 generates BTP packets.
  • the network layer at network and transport layer 140 may encapsulate the BTP packet to generate a geonetworking packet.
  • Geonetworking packets are encapsulated in LLC (Logical Link Control) packets.
  • the data may include a message set.
  • the message set is, for example, basic safety messages.
  • BTP is a protocol for transmitting V2X messages generated in the facility layer 120 to lower layers.
  • the A type BTP header may include a destination port and a source port necessary for sending and receiving in bidirectional packet transmission.
  • the B type BTP header can include a destination port and destination port information necessary for transmission in non-bidirectional packet transmission.
  • the destination port specifies the facility entity corresponding to the destination of the data (BTP-PDU) included in the BTP packet.
  • BTP-PDU is unit transmission data in BTP.
  • the source port is a field generated in the case of BTP-A type.
  • the source port indicates the port of the protocol entity of the facility layer 120 at the source of the corresponding packet. This field can have a size of 16 bits.
  • Destination port information is a field generated in the case of BTP-B type. Provides additional information if the destination port is a well-known port. This field can have a size of 16 bits.
  • a geonetworking packet includes a basic header and a common header according to the network layer protocol, and selectively includes an extension header according to the geonetworking mode.
  • the geonetworking header will be described later.
  • the LLC packet is a geonetworking packet with an LLC header added.
  • the LLC header provides a function to distinguish and transmit IP data and geonetworking data.
  • IP data and geonetworking data can be distinguished by the ether type of SNAP (Subnetwork Access Protocol).
  • the Ethertype is set to x86DD and may be included in the LLC header.
  • the Ethertype is set to 0x86DC and may be included in the LLC header.
  • the receiver can check the Ethertype field of the LLC packet header and forward and process the packet to the IP data path or geonetworking path depending on the value of the Ethertype field of the LLC packet header.
  • the LLC header includes DSAP (Destination Service Access Point) and SSAP (Source Service Access Point). After SSAP in the LLC header, a control field (Control in FIG. 2), protocol ID, and ether type are placed.
  • FIG. 3 shows the logical interfaces for the CP service 124 and other layers in the architecture of a V2X communications device.
  • the V2X communication device may provide various services for traffic safety and efficiency.
  • One of the services may be a Cooperative Awareness (CA) service.
  • Cooperative awareness in road traffic means that road users and roadside infrastructure can know each other's location, dynamics and attributes.
  • Road users refer to all users on and around roads that provide traffic safety and control, such as cars, trucks, motorcycles, bicycles, and pedestrians.
  • Roadside infrastructure refers to road signs, traffic lights, barriers, entrances, etc. Refers to equipment.
  • V2X wireless network
  • V2I vehicles and infrastructure
  • I2V infrastructure and vehicles
  • a V2X communication device can perform situational awareness through its own sensors and communication with other V2X communication devices.
  • the CA service can specify a method for the V2X communication device to notify its own location, behavior, and attributes by transmitting a CAM.
  • a V2X communication device can support traffic safety by periodically providing its own location and status to surrounding V2X communication devices.
  • the CA service has a limitation in that only the information of the corresponding V2X communication device itself can be shared. To overcome this limitation, service development such as CP service 124 is required.
  • the CP service 124 may specify how a V2X communication device notifies other V2X communication devices about the location, behavior, and attributes of detected surrounding road users and other objects. For example, the CP service 124 may share information contained in the CPM with other V2X communication devices by transmitting the CPM. Note that the CP service 124 may be a function that can be added to all types of target information communication devices that participate in road traffic.
  • CPM is a message exchanged between V2X communication devices via the V2X network.
  • CPM can be used to generate collective awareness of road users and other objects detected and/or recognized by V2X communication devices.
  • the detected road user or object may be, but is not limited to, a road user or object that is not equipped with a V2X communication device.
  • V2X communication device that shares information via CAM shares only information regarding its own recognition state with other V2X communication devices in order to perform cooperative recognition.
  • road users etc. who are not equipped with V2X communication devices are not part of the system and therefore have limited insight into situations related to safety and traffic management.
  • One way to improve this is to create a system that is equipped with a V2X communication device and can recognize road users and objects that are not equipped with a V2X communication device. It is conceivable to notify other V2X communication devices of the information and status. In this way, the CP service 124 cooperatively recognizes the presence of road users and objects that are not equipped with V2X communication devices, making it easy to improve the safety and traffic management performance of systems equipped with V2X communication devices. It is possible to do so.
  • the CP service 124 may be an entity in the facility layer 120 that operates the CPM protocol.
  • CP service 124 may be part of the application support domain of facility layer 120.
  • the CP service 124 can provide two services: CPM transmission and reception. Even if the CP service 124 is fundamentally different from the CA service in that it cannot receive input data regarding the host V2X communication device from the VDP (Vehicle Data Provider) 125 or the POTI (position and time) unit 126, for example. good.
  • VDP Vehicle Data Provider
  • POTI position and time
  • Transmission of CPM includes generation and transmission of CPM.
  • the originating V2X communication device In the process of generating a CPM, the originating V2X communication device generates a CPM, and then the CPM is sent to the network and transport layer 140 for transmission.
  • a source V2X communication device may be referred to as a source V2X communication device, a host V2X communication device, or the like.
  • CP service 124 connects with other entities within facility layer 120 and V2X applications within facility layer 120 to collect relevant information for CPM generation and deliver received CPM content for further processing. You can leave it there.
  • the entity for data collection may be a function that provides object detection in a host object detector.
  • the CP service 124 may use services provided by protocol entities of the network and transport layer 140.
  • CP service 124 may connect with network and transport layer 140 through an NF-SAP to exchange CPM with other V2X communication devices.
  • NF-SAP is a service access point between network & transport layer 140 and facility layer 120.
  • the CP service 124 may connect with the secure entity through the SF-SAP, which is an SAP between the security layer 160 and the facility layer 120, to access security services for sending CPMs and receiving CPMs. good.
  • the CP service 124 may also connect to the management entity through the MF-SAP, which is an SAP between the management layer 150 and the facility layer 120.
  • the CP service 124 may be connected to the application layer 110 through FA-SAP, which is an SAP between the facility layer 120 and the application layer 110.
  • CPM may vary depending on the applied communication system.
  • a CPM may be sent from an originating V2X communication device to all V2X communication devices within direct communication range.
  • the communication range can be particularly influenced by the originating V2X communication device by changing the transmit power depending on the relevant region.
  • the CPM may be generated periodically at a frequency controlled by the CP service 124 at the originating V2X communication device.
  • the generation frequency may be determined in consideration of the wireless channel load determined by distributed congestion control.
  • the generation frequency is also determined taking into account the state of the detected non-V2X object, e.g. the dynamic behavior of position, velocity or direction, and the transmission of CPMs to the same perceived object by other V2X communication devices. It's okay.
  • the CP service 124 makes the contents of the CPM available for use by functions within the receiving V2X communication device, such as V2X applications and/or LDM 127.
  • functions within the receiving V2X communication device such as V2X applications and/or LDM 127.
  • LDM 127 may be updated with received CPM data.
  • V2X applications may retrieve this information from LDM 127 for additional processing.
  • FIG. 4 is a functional block diagram of the CP service 124 in this embodiment. More specifically, FIG. 4 illustrates functional blocks of the CP service 124 and functional blocks with interfaces for other functions and layers in this embodiment.
  • the CP service 124 can provide the following sub-functions for CPM transmission and reception.
  • the CPM encoding unit 1241 configures or generates a CPM according to a predefined format. The latest in-vehicle data may be included in the CPM.
  • CPM decoding section 1242 decodes the received CPM.
  • the CPM transmission management unit 1243 executes the protocol operation of the source V2X communication device. The operations executed by the CPM transmission management unit 1243 may include starting and terminating the CPM transmission operation, determining the CPM generation frequency, and triggering the CPM generation.
  • the CPM reception manager 1244 can execute protocol operations of the receiving V2X communication device. Specifically, this may include triggering a CPM decoding function upon CPM reception, providing received CPM data to the LDM 127 or the V2X application of the receiving V2X communication device, checking information on the received CPM, and the like.
  • CPM distribution will be explained in detail. Specifically, requirements for CPM distribution, activation and termination of CP service, CPM trigger conditions, CPM generation cycle, constraint conditions, etc. will be explained.
  • Point-to-multipoint communication may be used for CPM distribution.
  • ITS-G5 a control channel (G5-CCH) may be used.
  • CPM generation may be triggered and managed by CP service 124 while CP service 124 is operating.
  • the CP service 124 may be started when the V2X communication device is started, or may be terminated when the V2X communication device is terminated.
  • the host V2X communication device may send a CPM whenever at least one object is detected with sufficient confidence that it needs to be exchanged with a nearby V2X communication device.
  • the CP service should consider the trade-off between object lifetime and channel utilization. For example, from the perspective of applications that utilize the information received by the CPM, there is a need to provide updated information as frequently as possible. However, from the perspective of the ITS-G5 stack, a low transmission period is required due to the need to minimize channel utilization. Therefore, it is desirable for the V2X communication device to take this point into account and appropriately include the detected object and object information in the CPM. Furthermore, in order to reduce the message size, it is necessary to evaluate the object before sending it.
  • FIG. 5 is a diagram showing the structure of CPM.
  • the CPM structure shown in FIG. 5 may be the basic CPM structure.
  • a CPM may be a message exchanged between V2X communication devices within a V2X network.
  • CPM may also be used to generate collective awareness for road users and/or other objects detected and/or recognized by the V2X communication device. That is, the CPM may be an ITS message for generating collective recognition for objects detected by the V2X communication device.
  • the CPM may include state information and attribute information of road users and objects detected by the source V2X communication device. Its content may vary depending on the type of road user or object detected and the detection performance of the originating V2X communication device. For example, if the object is a vehicle, the state information may include at least information regarding actual time, location, and motion state. The attribute information may include attributes such as dimensions, vehicle type, and role in road traffic.
  • CPM may complement CAM and function similarly to CAM. In other words, the purpose may be to increase cooperative awareness.
  • CPM may include externally observable information about detected road users or objects.
  • CP service 124 may include a method to reduce duplication or duplication of CPMs transmitted by different V2X communication devices by verifying CPMs transmitted by other stations.
  • the receiving V2X communication device may recognize the presence, type and condition of the road user or object detected by the originating V2X communication device.
  • the received information may be used by the receiving V2X communication device to support V2X applications to increase safety and improve transportation efficiency and travel time. For example, by comparing the received information with the detected road user or object condition, the receiving V2X communication device can estimate the risk of collision with the road user or object. Additionally, the receiving V2X communications device may notify the user or automatically take corrective action via the receiving V2X communications device's human machine interface (HMI).
  • HMI human machine interface
  • CPM The basic format of CPM will be explained with reference to FIG.
  • the format of this CPM is ASN (Abstract Syntax Notation). It may be presented as 1.
  • Data elements (DE) and data frames (DF) not defined in this disclosure may be derived from the common data dictionary defined in ETSI TS 102 894-2.
  • a CPM may include an ITS protocol data unit (PDU) header and multiple containers.
  • PDU ITS protocol data unit
  • the ITS PDU header is a header that includes information regarding the protocol version, message type, and ITS ID of the originating V2X communication device.
  • the ITS PDU header is a common header used in ITS messages and is present at the beginning of the ITS message.
  • the ITS PDU header is sometimes called a common header.
  • the station data container may include an Originating Vehicle Container or an Originating RSU Container.
  • a sensor information container is sometimes called a field-of-view container.
  • Outgoing vehicle container may also be referred to as OVC.
  • Field of view container is sometimes written as FOC.
  • a recognition object container is sometimes written as POC.
  • the CPM includes a management container as an essential container, and may include a station data container, a sensor information container, a POC, and a free space attached container as optional containers.
  • the sensor information container, the recognition object container, and the free space attachment container may be a plurality of containers. Each container will be explained below.
  • the management container provides basic information about the originating ITS-S, whether it is a vehicle or roadside type station.
  • the management container may also include station type, reference position, segmentation information, and number of recognized objects.
  • the station type indicates the type of ITS-S.
  • the reference location is the location of the source ITS-S.
  • the segmentation information describes division information when dividing the CPM into multiple messages due to message size constraints.
  • Table 1 shown in FIG. 6 is an example of OVC in the CPM station data container.
  • Table 1 shows data elements (DE) and/or data frames (DF) included in an example OVC.
  • the station data container becomes an OVC when the source ITS-S is a vehicle. If the originating ITS-S is an RSU, it becomes an originating RSU container.
  • the source RSU container contains the ID for the road or intersection where the RSU is located.
  • DE is a data type containing single data.
  • a DF is a data type that includes one or more elements in a predetermined order.
  • DF is a data type that includes one or more DEs and/or one or more DFs in a predefined order.
  • DE/DF may be used to construct facility layer messages or application layer messages.
  • facility layer messages are CAM, CPM, DENM.
  • the OVC includes basic information related to the V2X communication device that transmits the CPM.
  • OVC can be interpreted as a scaled-down version of CAM.
  • the OVC may include only the DE necessary for coordinate transformation processing. That is, OVC is similar to CAM, but provides basic information about the originating V2X communication device. The information contained in the OVC is focused on supporting the coordinate transformation process.
  • the OVC can provide the following: That is, the OVC may provide the most recent geographic location of the originating V2X communication device obtained by the CP service 124 at the time of CPM generation.
  • the OVC can also provide absolute lateral and vertical velocity components of the originating V2X communication device.
  • the OVC may provide the geometric dimensions of the originating V2X communication device.
  • the generation difference time shown in Table 1 indicates the time corresponding to the time of the reference position in CPM as DE.
  • the generation difference time can be regarded as the CPM generation time.
  • the generation difference time may be referred to as generation time.
  • the reference position indicates the geographical position of the V2X communication device as DF.
  • the reference position indicates the position of a geographical point.
  • the reference location includes information regarding latitude, longitude, location reliability, and/or altitude.
  • Latitude represents the latitude of a geographical point
  • longitude represents the longitude of a geographical point.
  • Location reliability represents the accuracy of a geographic location
  • altitude represents the altitude and altitude accuracy of a geographic point.
  • the orientation indicates the orientation in the coordinate system as DF.
  • the orientation includes information on an orientation value and/or orientation reliability.
  • the bearing value indicates the direction of travel with respect to north, and the reliability of the bearing indicates that the reliability of the reported bearing value is at a preset level.
  • the longitudinal velocity can describe the longitudinal velocity and the accuracy of velocity information regarding a moving object (for example, a vehicle) as DF.
  • the longitudinal velocity includes velocity value and/or velocity accuracy information.
  • the velocity value represents the velocity value in the longitudinal direction, and the velocity accuracy represents the accuracy of the velocity value.
  • the lateral velocity can describe the lateral velocity and the accuracy of velocity information regarding a moving object (eg, a vehicle).
  • the lateral velocity includes information regarding velocity values and/or velocity accuracy.
  • the speed value represents the speed value in the lateral direction, and the speed accuracy represents the accuracy of the speed value.
  • the vehicle length can be described as a DF, and the vehicle length and accuracy index.
  • the vehicle length includes information regarding a vehicle length value and/or a vehicle length accuracy indicator.
  • the vehicle length represents the length of the vehicle, and the accuracy index of the vehicle length represents the reliability of the vehicle length.
  • Vehicle width indicates the width of the vehicle as DE.
  • vehicle width may represent the width of the vehicle including the side mirrors. Note that if the vehicle width is 6.1 m or more, it is set to 61, and if no information is available, it is set to 62.
  • Each DE/DF shown in Table 1 can refer to ETSI 102 894-2 shown in the right column of Table 1, except for the generation time difference.
  • ETSI 102 894-2 defines CDD (common data dictionary).
  • CDD common data dictionary
  • the OVC may also include information regarding the vehicle direction angle, vehicle traveling direction, longitudinal acceleration, lateral acceleration, vertical acceleration, yaw rate, pitch angle, roll angle, vehicle height, and trailer data.
  • Table 2 is shown in FIG. Table 2 is an example of SIC (or FOC) in CPM.
  • the SIC provides a description of at least one sensor onboard the originating V2X communication device. If the V2X communication device is equipped with multiple sensors, multiple explanations may be added. For example, the SIC provides information regarding the sensor capabilities of the originating V2X communication device. To do this, general sensor characteristics providing the originating V2X communications device's sensor mounting location, sensor type, sensor range and opening angle (i.e. sensor frustum) are included as part of the message. You may be This information may be used by the V2X communication device on the receiving side to select an appropriate prediction model according to the performance of the sensor.
  • the sensor ID indicates a sensor-specific ID for identifying the sensor that detected the object.
  • the sensor ID is a random number that is generated when the V2X communication device is activated and is not changed until the V2X communication device is terminated.
  • the sensor type indicates the type of sensor.
  • the sensor types are listed below. For example, sensor types are undefined (0), radar (1), lidar (2), monovideo (3), stereo vision (4), night vision (5), ultrasound (6), pmd (7) , fusion (8), induction loop (9), spherical camera (10), and their set (11). pmd is photo mixing device.
  • a spherical camera is also called a 360 degree camera.
  • the X position indicates the mounting position of the sensor in the minus X direction
  • the Y position indicates the mounting position of the sensor in the Y direction.
  • These mounting positions are measured values from a reference position, which can be referred to in ETSI EN 302 637-2.
  • the radius indicates the average recognition range of the sensor as defined by the manufacturer.
  • a quality class represents a classification of a sensor that defines the quality of an object to be measured.
  • the SIC may also include information regarding the reliability of the detection area and free space.
  • Table 3 is shown in FIG. Table 3 is an example of POC in CPM.
  • POC is used to describe the object recognized by the sensor from the perspective of the transmitting V2X communication device.
  • the receiving V2X communication device that has received the POC can perform a coordinate conversion process to convert the position of the object to the reference coordinate system of the receiving vehicle with the help of the OVC.
  • multiple option DEs may be provided if the originating V2X communication device is able to provide them.
  • a POC may be composed of a selection of DEs to provide an abstract description of the recognized (or detected) object. For example, relative distance, velocity information, and timing information about recognized objects associated with the originating V2X communication device may be included in the POC as required DE. Additionally, additional DEs may be provided if the sensor of the originating V2X communication device is capable of providing the requested data.
  • the measurement time indicates the time from the message reference time in microseconds. This defines the relative age of the measured object.
  • the object ID is a unique random ID assigned to the object. This ID is retained (ie, not changed) while the object is being tracked, ie, being considered in the data fusion process of the originating V2X communication device.
  • the sensor ID is an ID corresponding to DE of the sensor ID in Table 2. This DE may be used to associate object information with the sensor making the measurement.
  • the vertical distance includes a distance value and distance reliability.
  • the distance value indicates the relative X distance to the object in the source reference coordinate system.
  • the distance reliability is a value indicating the reliability of the X distance.
  • the lateral distance also includes a distance value and distance reliability.
  • the distance value indicates the relative Y distance to the object in the source reference coordinate system, and the distance reliability indicates the reliability of that Y distance.
  • the longitudinal velocity indicates the longitudinal velocity of the detected object according to the reliability.
  • the lateral velocity indicates the lateral velocity of the detected object depending on the confidence level.
  • longitudinal velocity and lateral velocity refer to CDD of TS 102 894-2.
  • the object orientation when provided by data fusion processing, indicates the absolute orientation of the object in the reference coordinate system.
  • Object Length indicates the measured length of the object.
  • the length reliability indicates the reliability of the measured length of the object.
  • Object Width indicates the measurement of the width of the object.
  • the width reliability indicates the reliability of the measured width of the object.
  • the object type when provided in the data fusion process, represents the classification of the object.
  • Object classifications may include vehicles, people, animals, and others.
  • object reliability vertical distance, vertical velocity, longitudinal acceleration, lateral acceleration, vertical acceleration, object height, object dynamic state, matched position (lane ID, vertical (including direction lane position) may be included in the POC.
  • the free space addition container is a container that indicates information about free space (that is, free space information) that is recognized by the V2X communication device that is the source.
  • Free space is an area that is not considered to be occupied by road users or obstacles, and can also be called empty space.
  • the free space can also be said to be a space in which a mobile object that moves together with the V2X communication device that is the source can move.
  • the free space additional container is not a required container but a container that can be added arbitrarily. If there is a difference between the free space recognized by the other V2X communication device and the free space recognized by the source V2X communication device, which can be calculated from the CPM received from the other V2X communication device, the free space is calculated from the CPM received from the other V2X communication device. You can add additional space containers. Additionally, free space additional containers may be added to the CPM periodically.
  • the free space addition container includes information that specifies the free space area.
  • Free space can be specified in various shapes.
  • the shape of the free space can be expressed as, for example, a polygon, a circle, an ellipse, a rectangle, or the like.
  • When expressing free space as a polygon specify the positions of multiple points that make up the polygon and the order in which those multiple points are connected.
  • When expressing free space as a circle specify the center position and radius of the circle.
  • free space as an ellipse specify the position of the center of the ellipse and the major and minor axes of the ellipse.
  • the free space addition container may include free space reliability.
  • the reliability of free space is expressed numerically. Free space reliability may also indicate that reliability is unknown.
  • the additional free space container may also include information regarding the shadow area.
  • the shadow area refers to the area behind the object as seen from the vehicle or a sensor mounted on the vehicle.
  • FIG. 9 is a diagram explaining the reliability of free space. It is assumed that a sensor for detecting an object is mounted on the front end of the vehicle 5.
  • a square means an object.
  • a triangular area A1 indicated by a solid line and an area A2 surrounded by a two-dot chain line on the side farther from the vehicle 5 than the triangle are both the detection range A of the sensor.
  • the region A2 surrounded by the two-dot chain line is relatively farther from the sensor than the triangular region A1 shown by the solid line, the reliability is lowered.
  • the area A3 shown by the one-dot chain line that is, the area from the side of the object toward the far side of the vehicle, is blocked by the object. This is an area where the reliability is relatively lower than that of other areas.
  • the shadow area A4 of the object facing away from the vehicle is difficult to recognize with a sensor, and is an area where reliability cannot be evaluated.
  • FIG. 10 is a diagram illustrating a sensor data extraction method by a V2X communication device that provides a CP service. More specifically, FIG. 10(a) illustrates how a V2X communication device extracts sensor data at a low level. FIG. 10(b) is a diagram illustrating how a V2X communication device extracts sensor data at a high level.
  • the source of the sensor data transmitted as part of the CPM needs to be selected according to the requirements of the future data fusion process in the receiving V2X communication device.
  • the transmitted data should be as close as possible to the original sensor data.
  • FIG. 10(a) and 10(b) illustrate possible embodiments for selecting data to be transmitted as part of CPM.
  • sensor data is obtained from different sensors and processed as part of a low-level data management entity. This entity can select the object data to be inserted as part of the next CPM and also calculate the validity of the detected objects.
  • FIG. 10(a) since data from each sensor is transmitted, the amount of data transmitted via the V2X network increases. However, the sensor information can be efficiently utilized by the V2X communication device on the receiving side.
  • sensor data or object data provided by a data fusion unit specific to the V2X communication device manufacturer is transmitted as part of the CPM.
  • the absolute value of the difference between the current yaw angle of the detected object and the yaw angle included in the CPM transmitted in the past by the source V2X communication device exceeds 4 degrees, transmission will be considered. If the difference between the relative distance between the current position of the source V2X communication device and the detected object and the relative distance between the source V2X communication device and the detected object included in the CPM sent in the past by the source V2X communication device exceeds 4 m. Or, if the absolute value of the difference between the current speed of the detected object and the speed of the detected object included in the CPM transmitted in the past by the source V2X communication device exceeds 0.5 m/s, consider sending. Good too.
  • CAM is a technology that allows a vehicle equipped with a V2X module to periodically send its position and status to surrounding vehicles equipped with V2X modules, supporting more stable driving.
  • the V2X module has a configuration including a V2X communication device or a V2X communication device.
  • CAM was limited in that it could only share information about its own vehicle.
  • the CP service 124 is a technology that complements CAM.
  • CPS that is, CP service
  • CPS technology is a technology in ADAS technology that notifies the surroundings of sensor data that recognizes the surrounding environment through V2X communication.
  • FIG. 11 is a diagram explaining the CP service 124. It is assumed that each vehicle TxV1 and RxV2 is equipped with at least one sensor and has sensing ranges SrV1 and SrV2 shown by dotted lines. TxV1 has a CPS function. TxV1 can recognize vehicles RV1 to RV11, which are peripheral objects belonging to sensing range SrV1, by using a plurality of ADAS sensors mounted on the vehicle. Object information obtained through recognition may be distributed to nearby vehicles equipped with a V2X communication device through V2X communication.
  • RxV1 which is not equipped with a sensor, can acquire information about the following vehicle.
  • RxV2 equipped with a sensor receives CPM from TxV1
  • information about objects outside the sensing range SrV2 of RxV2 or objects located in the blind spot is also possible.
  • the facility layer 120 can provide CP services 124.
  • CP service 124 may be executed in facility layer 120 or may utilize services that reside in facility layer 120.
  • the LDM 127 is a service that provides map information, and may also provide map information for the CP service 124.
  • the provided map information may include dynamic information in addition to static information.
  • POTI unit 126 performs a service that provides the location and time of the own vehicle.
  • the POTI unit 126 can provide the vehicle's location and accurate time using corresponding information.
  • the VDP 125 is a service that provides information regarding vehicles, and may be used to import information such as the size of the own vehicle into the CPM and transmit the CPM.
  • ADAS vehicles are equipped with various sensors such as cameras, infrared sensors, radar, and lidar for driving support. Each sensor recognizes objects individually. Recognized object information may be collected and fused by a data fusion unit and provided to an ADAS application.
  • CP service 124 the collection and fusion method of sensor information in ADAS technology will be described regarding the CP service 124.
  • Existing sensors for ADAS and existing sensors for CPS can constantly track surrounding objects and collect relevant data.
  • sensor values for CP services two methods can be used to collect sensor information.
  • each sensor value can be individually provided to surrounding vehicles through the CP basic service.
  • the integrated sensor information collected into one after the data fusion unit may be provided to the CP basic service.
  • CP basic services constitute part of CP services 124.
  • FIG. 12 shows a configuration diagram of the in-vehicle system 10 including the V2X communication device 60.
  • the V2X communication device 60 also includes the configuration described below.
  • the in-vehicle system 10 is mounted on the vehicle 5.
  • the in-vehicle system 10 includes a sensor 20, a map data holding section 30, a position detection section 40, and a target object detection section 50.
  • the sensor 20 is mounted on the vehicle 5 to detect a target object.
  • a target is an object detected by the sensor 20.
  • the objects described so far can also be called targets.
  • the target exists outside the vehicle 5.
  • Targets can include moving objects and stationary objects. Moving objects include, for example, four-wheeled vehicles, two-wheeled vehicles, pedestrians, animals, and the like. Stationary objects include, for example, pylons, display triangles, parked vehicles, utility poles, and falling objects.
  • a plurality of sensors 20 can be provided.
  • the sensor 20 includes, for example, a camera, lidar, radar, sonar, and the like.
  • the map data holding unit 30 stores road map data.
  • Road map data is data that expresses the shape of a road. A road shape can be represented by nodes and links.
  • the road map data may be high-precision map data.
  • High-precision map data is map data that expresses the position and shape of features such as lane markings, road shoulders, and road signs.
  • the road map data stored in the map data holding unit 30 may be updated with updated map data distributed from a map distribution center.
  • the position detection unit 40 sequentially detects the current position.
  • the position detection unit 40 includes a GNSS receiver that receives navigation signals transmitted by navigation satellites included in GNSS (Global Navigation Satellite System), and sequentially detects the current position based on the navigation signals received by the GNSS receiver. do.
  • the current location is represented by coordinates including latitude and longitude. Further, the coordinates may include altitude.
  • the target detection unit 50 acquires signals from the sensor 20 and detects various targets existing around the vehicle 5.
  • the target detection unit 50 can be realized by a configuration including at least one processor.
  • the target detection unit 50 can be realized by a computer including a processor, a nonvolatile memory, a RAM (Random Access Memory), an I/O (Input/Output), a bus line connecting these components, and the like.
  • the V2X communication device 60 includes a communication circuit 61 and a control section 63.
  • the communication circuit 61 has a configuration including a modulation circuit, a demodulation circuit, an amplification circuit, and the like.
  • Communication circuit 61 modulates and amplifies a message provided from control unit 63 and transmits it from antenna 62 . Further, the communication circuit 61 demodulates and amplifies a message from the radio waves received by the antenna 62 and provides the message to the control unit 63 .
  • the frequencies used for transmission and reception are not particularly limited.
  • the frequency used for communication is, for example, the 5 GHz band. Further, the frequency used for communication may be in the 700 MHz band.
  • the communication circuit 61 can be a circuit that performs short-range wireless communication. However, the communication circuit 61 may be a circuit that performs wide area wireless communication. When performing short-range wireless communication, the communication range is from several hundred meters to several kilometers.
  • the communication performed by the V2X communication device 60 is V2X communication
  • the control unit 63 can be realized by a configuration including at least one processor.
  • the control unit 63 can be realized by a computer including a processor, nonvolatile memory, RAM, I/O, a bus line connecting these components, and the like.
  • a target information communication program for operating a general-purpose computer as the control unit 63 is stored in the nonvolatile memory.
  • the control unit 63 can control the message acquisition unit 64, the target property estimation unit 65, and the prediction unit. 66, operates as a target information transmitter 67. Execution of these operations means that a target information communication method corresponding to the target information communication program is executed.
  • the control unit 63 acquires information from the target detection unit 50, the map data storage unit 30, and the position detection unit 40.
  • the target characteristic estimation section 65 acquires information from the target object detection section 50
  • the prediction section 66 acquires information from the map data holding section 30 and the position detection section 40.
  • the control unit 63 communicates with various devices mounted on the vehicle 5 via the in-vehicle network 70. Through this communication, the control unit 63 may acquire information necessary for generating CPM.
  • the in-vehicle network 70 may be, for example, Ethernet, CAN (Controller Area Network), LIN (Local Interconnect Network), CXPI (Clock Extension Peripheral Interface), FlexRay, MOST (Media Oriented Systems Transport), or the like. Ethernet, CAN, CXPI, FlexRay, MOST are registered trademarks.
  • the message acquisition unit 64 transmits a message transmitted by a V2X communication device (hereinafter referred to as another communication device) mounted on a mobile body different from the vehicle 5 on which this V2X communication device 60 is mounted to the antenna 62 and the communication circuit 61. Get it through.
  • Messages sent by other communication devices include CAM, CPM, and DENM.
  • the CPM may include a free space addition container indicating free space information. Therefore, the message acquisition unit 64 is a free space information acquisition unit.
  • the target characteristic estimating unit 65 estimates the characteristics of the target detected by the target detecting unit 50 (hereinafter referred to as target characteristic).
  • the target property is one or more of the various properties listed in Table 3.
  • the target object characteristics can also be referred to as a state space representation of the target object.
  • the target characteristic estimation unit 65 may generate an environment model in addition to the target characteristic.
  • the environment model is a computational representation of the environment around the ITS-S.
  • the environmental model can be generated based on various targets detected by the target detection unit 50.
  • the target characteristic estimating unit 65 may determine the reliability of the target (in other words, the reliability of the object).
  • the reliability of an object can be determined, for example, based on the degree of agreement between the detection results of the plurality of sensors 20.
  • the reliability of an object may be expressed numerically as follows.
  • the reliability of an object is expressed as a numerical value from 1 to 100, and if the reliability is unknown, it is set to 0. Further, if the reliability cannot be calculated, the numerical value may be set to 101. Reliability can also be called reliability.
  • the prediction unit 66 determines whether the target object whose target characteristic has been estimated by the target characteristic estimation unit 65 will move into a space in which a mobile body equipped with the V2X communication device 60 that transmits CPM including free space information can move. Predict what will happen. This prediction uses target characteristics and free space information. Furthermore, it is preferable to use road shape information for this prediction.
  • the road shape information is information indicating the shape of the road, and is acquired from the map data holding unit 30.
  • the road shape information may be information indicating the shape of the road using nodes and links.
  • the road shape information may be information that indicates the shape of a road by indicating an area that is a road.
  • the road shape information may be more detailed information, such as information including areas that are roadways, areas that are sidewalks, and the presence or absence of median strips.
  • FIGS. 13 and 14 the vehicle 5 includes the own vehicle 5a and other vehicles 5b and 5c.
  • a shield 8 that blocks the view is present next to an intersection where the road on which the host vehicle 5a is traveling intersects with the road on which the other vehicle 5b is traveling.
  • an in-vehicle system 10 is installed in the own vehicle 5a and other vehicles 5b and 5c.
  • the processing of the prediction unit 66 will be specifically explained using the in-vehicle system 10 installed in the host vehicle 5a as an example.
  • the host vehicle 5a estimates the relative distance, moving direction, etc. of the targets 6a and 6b using the target characteristic estimation unit 65. Therefore, the in-vehicle system 10 mounted on the host vehicle 5a recognizes that the targets 6a and 6b are present at the positions shown in FIG. 13 or 14 and are moving in the direction shown by the arrow.
  • the other vehicles 5b and 5c are transmitting CPMs that include free space information.
  • the in-vehicle system 10 mounted on the host vehicle 5a can recognize the free space 7b for the other vehicle 5b and the free space 7c for the other vehicle 5c.
  • the in-vehicle system 10 mounted on the own vehicle 5a determines that the two targets 6a and 6b are located in the free space 7b based on the positions and traveling directions of the targets 6a and 6b, the free space information, and the road shape. , 7c. Free spaces 7b and 7c are spaces in which other vehicles 5b and 5c can move, respectively. Therefore, in the example of FIG. 13, the in-vehicle system 10 mounted on the own vehicle 5a predicts that the targets 6a and 6b will move to spaces in which the other vehicles 5b and 5c can move, respectively.
  • a median strip 9 exists on the road on which the host vehicle 5a is traveling.
  • the in-vehicle system 10 mounted on the host vehicle 5a can recognize the presence of the median strip 9 from the sensor 20 or the road shape information. Since the median strip 9 exists, the in-vehicle system 10 mounted on the host vehicle 5a can predict that the target object 6b will not move into a space where the other vehicles 5b and 5c can move.
  • the in-vehicle system 10 mounted on the other vehicles 5b and 5c also recognizes the median strip 9. Therefore, the areas of the free spaces 7b and 7c are also limited by the median strip 9. Therefore, the moving direction of the target object 6b is not the direction toward the free spaces 7b and 7c. This also makes it possible to predict that the target object 6b will not move into a space where other vehicles 5b and 5c can move.
  • the in-vehicle system 10 mounted on the host vehicle 5a can predict that the target object 6a will move to a space where the other vehicles 5b and 5c can move.
  • the free spaces 7b, 7c may be corrected based on the road shape to determine the space in which the other vehicles 5b, 5c can move.
  • the predicted space in which the other vehicles 5b, 5c can move may be limited to intersections and merging points on the road where the target object 6 is moving. This is because if the target object 6 and the other vehicles 5b, 5c continue to move on different roads, there is little need for the other vehicles 5b, 5c to recognize the existence of the target object 6.
  • the road shape can also be used to predict the route that the target object 6 will travel. This is because the target object 6 on the road can be predicted to move along the road. Even if the targets 6a and 6b are moving toward the free space 7b, unlike in FIG. 13, the road on which the targets 6a and 6b are located does not intersect with the road on which the other vehicle 5b is traveling. If so, it can be determined that the targets 6a and 6b will not move onto the road where the other vehicle 5b is traveling.
  • the prediction unit 66 also uses road shape information in order to predict whether the target object 6 will move into a space where moving objects such as other vehicles 5b and 5c can move.
  • the above prediction may be made using target object characteristics and free space information without using road shape information. For example, if the moving direction of the target object 6 indicated by the target object characteristic is toward the free space 7 indicated by the free space information, the target object 6 is moved to a space in which the moving object that transmitted the free space information can move. You may predict that it will move.
  • the target information transmitter 67 transmits the CPM to the surroundings.
  • CPM can be transmitted by point-to-multipoint communication.
  • the CPM may be transmitted by a communication method other than point-to-multipoint communication, such as point-to-point communication.
  • CPM may include target information.
  • the target object information is information that specifies the target object 6.
  • the target information is information about the POC or a part of the POC.
  • the target information transmitter 67 determines a priority for each target, and determines which target 6 target information is to be included in the CPM based on the priority.
  • the prediction unit 66 predicts that the target object 6 will move to a space in which a moving body such as other vehicles 5b and 5c can move
  • the target object information transmitting unit 67 transmits information such that the target object 6 moves into a space in which a moving body such as other vehicles 5b and 5c can move.
  • the priority for transmitting the target object information regarding the target object 6 can be made higher than when the prediction unit 66 does not predict.
  • the prediction unit 66 makes the priority of transmitting the target information about the target 6a higher than the priority of transmitting the target information about the target 6b.
  • the priority is set high, if the size becomes too large if all target information is included in the CPM, only the target information with a relatively high priority will be included in the CPM to be sent this time. Can be done. Target information with relatively low priority will be included in subsequent CPMs. Furthermore, not transmitting target information having a relatively low priority is also an example of processing based on priority.
  • the priorities that can be determined from the positions and moving directions of the targets 6a and 6b, free space information, and road shape information are the same for the targets 6a and 6b.
  • the prediction unit 66 predicts that there are a plurality of targets 6 that will move in a space in which the moving body can move
  • the target information transmitting unit 67 can further determine the priority using other information.
  • TTC Time To Collision
  • the CPM transmitted by the other vehicles 5b and 5c includes the position and speed of the other vehicles 5b and 5c in the OVC.
  • the in-vehicle system 10 mounted on the host vehicle 5a can estimate the positions and velocities of the targets 6a and 6b using the target characteristic estimation unit 65. Therefore, the in-vehicle system 10 mounted on the host vehicle 5a can calculate the TTC between the targets 6a, 6b and the other vehicles 5b, 5c.
  • the TTC between the target 6b and the other vehicle 5b is 2 seconds
  • the TTC between the target 6a and the other vehicle 5c is 3 seconds. Note that although the target object 6a and the other vehicle 5b intersect in their traveling directions, they do not collide, and therefore, the TTC is not calculated.
  • the target object information transmitting unit 67 transmits the objects based on the TTC (for example, in order of shortest TTC). You can decide the priority for sending target information.
  • the TTC it is also possible to strictly calculate the TTC and determine the priority based on the TTC. However, if the TTCs are at the same level, the priority may be determined based on whether the target object 6 and the other vehicles 5b, 5c are traveling on the same road, rather than comparing slight differences in TTCs.
  • the moving speed of the target 6b is slower than the target 6a, and the TTC between the target 6b and the other vehicle 5b and the TTC between the target 6a and the other vehicle 5c are Assume that they are at the same level.
  • the range of TTCs to be at the same level can be set as appropriate. For example, if the difference between two TTCs is within a certain amount of time, the TTCs can be considered to be at the same level. Further, if the difference in TTC is less than or equal to a small preset ratio such as 10% with respect to any TTC for which the difference was calculated, the TTCs may be considered to be at the same level. Furthermore, if the variance of a plurality of TTCs is within a certain value, the TTCs may be at the same level.
  • the target information transmitting unit 67 makes the priority of transmitting the target information about the target 6b higher than the priority of transmitting the target information about the target 6a.
  • the target object information transmitter 67 determines whether the target object 6 and the moving object exist on the same road or not. Priority cannot be determined depending on whether the vehicle and the moving object are on different roads. In this case, the target information transmitting unit 67 further compares the length in the road width direction of the space in which the moving object can move based on the free space information. Then, the priority for transmitting the target object information about the target object 6 moving into a space whose length in the road width direction is short is increased.
  • the target object 6a exists in a different position from that in FIG. 13. Specifically, in FIG. 15, the target object 6a is located on the same road as the other vehicle 5b. For the other vehicle 5b, the portion where the target object 6a is present is not the free space 7b. Therefore, the free space 7b recognized by the other vehicle 5b has a length shorter in the road width direction than the free space 7b shown in FIG. ing. In other words, the free space is reduced by the area where the target object 6a exists and the area behind the target object 6a (the shadow area in FIG. 9) when viewed from the other vehicle 5b.
  • the TTC between the target object 6a and the other vehicle 5c and the TTC between the target object 6b and the other vehicle 5b are at the same level. Therefore, the lengths of the spaces in which the other vehicles 5b and 5c can move in the road width direction are compared.
  • the space in which the lengths in the road width direction are compared is preferably a portion of the space in which the other vehicles 5b and 5c can move that overlaps with the road on which the target object 6 is moving. This is because there is a possibility that the target object 6 and the other vehicle 5b will come into contact in this part.
  • the area where the other vehicle 5b may come into contact with the target object 6b is within the intersection.
  • the area where the other vehicle 5c may also come into contact with the target object 6a is within the intersection. Therefore, the lengths of the free spaces 7b and 7c in the road width direction within the intersection are compared. Regarding the length of the free spaces 7b and 7c in the road width direction within the intersection, the free space 7b is shorter. Therefore, the target information transmitting unit 67 makes the priority of transmitting the target object characteristics of the target object 6b higher than the priority of transmitting the target object characteristics of the target object 6a.
  • the message acquisition section 64 is part of the functions of the CPM decoding section 1242 and the CPM reception management section 1244.
  • the target characteristic estimation section 65, the prediction section 66, and the target object information transmission section 67 are functions for generating and transmitting CPM, and are part of the functions of the CPM transmission management section 1243. Furthermore, the function of the target information transmitter 67 to finally generate and transmit the data after determining the data to be included in the CPM is part of the function of the CPM encoder 1241.
  • FIG. 16 shows the process of transmitting CPM.
  • the process shown in FIG. 16 is executed by the target information transmitter 67 at a predetermined execution cycle.
  • S1 it is determined whether T_Now-T_LastCpm is greater than or equal to T_GenCpm.
  • T_Now is the current time.
  • T_LastCpm is the time when CPM was last transmitted.
  • T_GenCpm is the cycle for generating CPM. Therefore, in S1, it is determined whether a CPM transmission cycle has elapsed since the last CPM transmission.
  • T_GenEvent is set to T_Now.
  • T_GenEvent means the time when an event that generates a CPM occurs. By setting T_GenEvent to T_Now, the time at which CPM is generated is the current time.
  • a recognized object means a target whose target characteristics are included in a recognized object container. Details of the process in S3 are shown in FIG.
  • a list of objects is obtained from the environment model and stored in the object list.
  • the environmental model is generated by the target object characteristic estimating section 65.
  • the environment model is an example of a form of expression of the result of estimating the target object characteristics of various targets by the target object characteristic estimating unit 65. That is, in S301, a list of target properties estimated by the target property estimation unit 65 is acquired.
  • the object list is a list for selecting recognition object candidates in the process of FIG. 17.
  • the recognition object can also simply be called an object or a target.
  • S302 it is determined whether an object is detected. If the determination result in S302 is NO, the process in S3 is ended and the process proceeds to S4. If the determination result in S302 is YES, the process advances to S303.
  • S303 the next object is acquired from the object list.
  • S304 it is determined whether the reliability of the object is greater than or equal to a preset threshold. Note that this S304 may be omitted and the process proceeds to S305. For example, if the reliability of the object has not been determined, S304 may be omitted.
  • the reliability of the object is determined by the target characteristic estimation unit 65. If the determination result in S304 is NO, the process advances to S311 in FIG. If the determination result in S304 is YES, the process advances to S305.
  • S305 it is determined whether the object has been stored in a predetermined area of the internal memory.
  • the internal memory is a memory included in the control unit 63, and the predetermined area is an area for storing data for generating CPM. If the determination result in S305 is NO, that is, the object acquired in S303 has already been stored in the internal memory, the process advances to S310 in FIG. 18. If the determination result in S305 is YES, the process advances to S306.
  • S306 it is determined whether the object acquired in S303 belongs to the human or animal class. That is, it is determined whether the type of the object acquired in S303 is a person or an animal.
  • S307 it is determined whether at least one of the object's distance, speed, direction, and elapsed time has changed from the previous CPM transmission by more than a preset threshold for each. If the determination result in S307 is YES, the process advances to S310 in FIG. On the other hand, if the determination result in S307 is NO, the process advances to S311 in FIG.
  • S306 determines whether 500 ms or more have passed since the object acquired in S303 was included in the CPM. If the determination result in S308 is NO, the process also advances to S311 in FIG. 18. If the determination result in S308 is YES, the process advances to S309. In S309, all humans and animals are included in the generated CPM. After that, the process advances to S310 in FIG. 18.
  • S311 it is determined whether the object is the last object in the object list. If the determination result in S311 is NO, the process returns to S303. If the determination result in S311 is YES, the process advances to S312. In S312, a list of recognition object container candidates is created based on the marks. After executing S312, the process advances to S4 in FIG.
  • a sensor information container is generated. Details of the process in S4 are shown in FIG. In FIG. 19, in S41, it is determined whether the value obtained by subtracting T_LastSensorInfoContainer from T_Now is greater than or equal to T_AddSensorInformation. T_LastSensorInfoContainer is the time when the last sensor information container was generated. T_AddSensorInformation means the cycle of adding sensor information containers. If the determination result in S41 is NO, the process in FIG. 19 is ended and the process proceeds to S5 in FIG. 16. If the determination result in S41 is YES, the process advances to S42.
  • the sensor parameters are obtained by inquiring the database storing the sensor parameters.
  • a sensor information container is generated using the sensor parameters acquired in S42.
  • An example of the generated sensor information container is Table 2 described above.
  • T_LastSensorInfoContainer is set to T_GenEvent. That is, the time when the sensor information container is generated is set to the time when S2 is executed when the next CPM is created.
  • S5 of FIG. 16 it is determined whether POC (i.e., recognition object container) or SIC (i.e., sensor information container) data has been generated. If neither POC nor SIC has been generated, the determination result in S5 is NO. If the determination result in S5 is NO, the process of FIG. 16 ends without transmitting the CPM. If the determination result in S5 is YES, the process advances to S6.
  • POC i.e., recognition object container
  • SIC sensor information container
  • an OVC that is, an originating vehicle container
  • a management container are generated.
  • the process of S6 is shown in FIG. In FIG. 20, in S61, a station type is selected. If the station type is car, proceed to S62. In S62, an originating vehicle container is generated. The originating vehicle container is, for example, one illustrated in Table 1. After executing S62, the process advances to S65.
  • the process advances to S63.
  • S63 it is determined whether or not to send a MAP message.
  • the MAP message is a message that provides the shape of intersections or road segments around the RSU. If the determination result in S63 is YES, the process advances to S64. In S64, a source RSU container containing the map message is generated. After that, the process advances to S65. If the determination result in S63 is NO, the process proceeds to S65 without executing S64.
  • a management container for undivided CPM is generated.
  • the management container generated here may include the station type, reference position, segmentation information, and number of recognized objects.
  • the encoded size of the CPM including all the generated containers is calculated.
  • the CPM can include a free space additional container.
  • the CPM encoding size is calculated including the size of the free space additional container.
  • MTU_CPM is the maximum transmission unit of one CPM and is set in advance. MTU_CPM is determined depending on the maximum transmission unit of the access layer 130.
  • S67 If the determination result in S67 is NO, proceed to S68. In S68, a CPM including all the generated containers is generated. Thereafter, the process advances to S7 in FIG. On the other hand, if the determination result in S67 is YES, the process advances to S69. In S69, the message segment is determined. The detailed process of S69 is shown in FIG.
  • S691 objects are sorted in order of priority.
  • the detailed process of S691 is shown in FIG. Note that in the description of FIG. 23, the object is expressed as a target 6.
  • S6911 it is determined whether there are a plurality of targets 6 in the list of recognition object containers created in S312. If the determination result in S6911 is NO, sorting is not necessary, and the processing in FIG. 23 ends. If the determination result in S6911 is YES, the process advances to S6912. Note that, before proceeding to S6912, it is assumed that all the plurality of targets 6 included in the list of recognition object containers have the same priority.
  • priority is assigned based on whether the target object 6 moves into a space into which the moving object that transmitted the CPM can move. For example, in the example shown in FIG. 14, the priority of the target object 6a is set higher than the priority of the target object 6b.
  • S6913 it is determined whether there is a target object 6 with the same priority. If the determination result in S6913 is NO, the process advances to S6919. If the determination result in S6913 is YES, the process advances to S6914.
  • priority is assigned based on the level of TTC between the target object 6 and the moving body.
  • TTC between the target object 6b and the other vehicle 5b is 2 seconds
  • TTC between the target object 6a and the other vehicle 5c is 3 seconds.
  • the priority of the target 6b is set higher than the priority of the target 6a.
  • S6915 it is determined again whether there is a target 6 with the same priority. If the determination result in S6915 is NO, the process advances to S6919. If the determination result in S6915 is YES, the process advances to S6916.
  • the target 6 is determined depending on whether the target 6 and the moving body exist on the same road or on different roads. Prioritize. In the example of FIG. 13, the priority of the target 6b, which is located on a different road from the other vehicle 5b, is given higher priority than the priority of the target 6a, which is located on the same road as the other vehicle 5c.
  • S6917 it is determined again whether there is a target object 6 with the same priority. If the determination result in S6917 is NO, the process advances to S6919. If the determination result in S6917 is YES, the process advances to S6918.
  • the combinations of the target object 6 and the moving object that have the same priority are prioritized based on the length in the road width direction of the space in which the moving object can move.
  • the length of the free space 7b in the road width direction is shorter than the length of the free space 7c in the road width direction within the intersection. Therefore, the priority of the target 6b that can be predicted to move into a space where the other vehicle 5b that has transmitted the free space information indicating the free space 7b can be moved is set higher than the priority of the target 6a.
  • the targets 6 are sorted in the order of priority determined before executing S6919. After executing S6919, the process advances to S692 in FIG. 21.
  • the object iterator it_obj is set to the head of the sorted list.
  • the iterator indicates the position at which processing is executed.
  • a management container for the segment to be generated this time is generated.
  • the management container can include station type, reference position, segmentation information, and number of recognized objects.
  • S697 it is determined whether the size of the encoded message exceeds MTU_CPM. If the determination result in S697 is NO, the process advances to S698.
  • S698 it is determined whether there are any more objects in the sorted list. If the determination result in S698 is YES, the process returns to S693. If the determination result in S698 is YES, the process advances to S700 in FIG. 22.
  • the encoded size of the message including the sensor information container is calculated.
  • S705 it is determined whether there are any more objects in the sorted list. If the determination result in S705 is YES, the process advances to S706. In S706, the object iterator it_obj is incremented to the next object. After executing S706, the process returns to S693 in FIG. 21.
  • S707 it is determined whether the sensor information container is included in a sent message or a current message. If the determination result in S707 is NO, the process returns to S700 described above. If the determination result in S707 is YES, the process advances to S708.
  • T_LastCpmtimestamp is set to T_GenEvent.
  • T_LastCpmtimestamp means the time when CPM was last generated.
  • S10 it is determined whether there are any untransmitted CPM segments. If the determination result in S10 is YES, the process returns to S8, and unsent CPM segments are acquired and transmitted. If the determination result in S10 is YES, the process in FIG. 16 ends.
  • the V2X communication device 60 includes a prediction unit 66 that predicts whether or not the target object 6 will move to a space where a mobile object can move based on the target object characteristics and free space information. Equipped with When the prediction unit 66 predicts that the target object 6 will move into a space where the moving body can move, the target object information transmitting unit 67 predicts that the prediction unit 66 will predict that the target object 6 will move into a space where the moving body can move. The priority of transmitting the target object information regarding the target object 6 is set higher than that when no prediction is made. Therefore, the source V2X communication device 60 can preferentially transmit target information that is likely to be useful to the V2X communication device 60 that transmitted the CPM including free space information.
  • the prediction unit 66 uses road shape information in addition to the target object characteristics and free space information to predict whether or not the target object 6 will move into a space in which the mobile object can move. Therefore, the accuracy of predicting whether the target object 6 will move into a space in which the moving body can move is improved. Thereby, the V2X communication device 60 that is the source can transmit target information with higher priority, which is likely to be useful to the V2X communication device 60 that transmitted the CPM including free space information.
  • the target information transmitting unit 67 transmits information based on the TTC between the plurality of targets 6 and the moving body. , determines the priority for transmitting target object information regarding a plurality of targets 6. For example, in the example shown in FIG. 13, if the TTC between target 6b and other vehicle 5b is 2 seconds and the TTC between target 6a and other vehicle 5c is 3 seconds, then The priority of transmitting the target object information about the target object 6a is set higher than the priority of transmitting the target object information about the target object 6a. Thereby, the source V2X communication device 60 can transmit target object information about the target object 6 that requires a quick response with higher priority for the V2X communication device 60 that transmitted the CPM including free space information.
  • the target information transmitting unit 67 transmits Increase the priority when the target and the moving object are on different roads.
  • the target information transmitting unit 67 makes the priority of transmitting the target information about the target 6b higher than the priority of transmitting the target information about the target 6a.
  • the source V2X communication device 60 can preferentially transmit target object information about the target object 6 that is difficult to recognize by the V2X communication device 60 that transmitted the CPM including free space information. .
  • the target object information transmitter 67 determines the priority depending on whether the target object 6 and the moving object are on the same road or whether the target object 6 and the moving object are on different roads, and then When there are a plurality of targets 6 having a priority of , the lengths in the road width direction of spaces in which the mobile body can move are compared. Then, the priority for transmitting the target object information about the target object 6 moving into a space whose length in the road width direction is short is increased. In the example of FIG. 15, when comparing the length of the movable space in the road width direction for the other vehicles 5b and 5c, the other vehicle 5b is shorter.
  • the priority for transmitting target object information about the target object 6b that moves into a space where the other vehicle 5b can move is set higher than that of the target object 6a. Therefore, it is possible to preferentially transmit target object information about the target object 6 for which contact avoidance operation is relatively difficult near a point where there is a possibility of contact.
  • prioritizing is further done based on the following three indicators. That is, (1) prioritize at the TTC level (S6914), (2) prioritize based on whether or not the target object 6 and the moving object are on the same road (S6916), (3) ) Priority was assigned based on the length of movable space in the road width direction (S6918).
  • prioritizing based on whether the target 6 moves into a space where the moving body can move prioritizing based on the TTC level is omitted, and if the target 6 and the moving body are on the same road. You may also prioritize based on whether or not you are doing so.
  • ⁇ Modification 2> after prioritizing based on whether the target 6 moves into a space where the moving object can move, prioritizing based on the TTC level and whether the target 6 and the moving object are on the same road. It is also possible to omit the prioritization based on whether the vehicle is occupied or not, and prioritize based on the length of the movable space in the road width direction.
  • (1) and (3) may be executed after prioritizing based on whether or not the target object 6 moves into a space in which the moving body can move. That is, after prioritizing based on the TTC level, prioritizing based on whether or not the target object 6 and the moving object are on the same road is omitted, and priority is given based on the length of the movable space in the road width direction. It may be prescribed.
  • (2) and (3) may be executed after prioritizing based on whether or not the target object 6 moves into a space in which the moving body can move. That is, prioritization based on the TTC level is omitted, and priority is based on whether the target object 6 and the moving object are on the same road or not, and then, based on the length of the movable space in the road width direction. You may prioritize.
  • the V2X communication device 60 was mounted on the vehicle 5. However, the V2X communication device 60 may be fixed on the roadside. That is, the V2X communication device 60 may be an RSU or a part of an RSU.
  • the control unit 63 and its techniques described in this disclosure may be implemented by a dedicated computer comprising a processor programmed to perform one or more functions embodied by a computer program.
  • the controller 63 and the techniques described in this disclosure may be implemented by dedicated hardware logic circuits.
  • the control unit 63 and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits.
  • the computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.

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